Fast 3D radiography using multiple pulsed X-ray sources in motion with a C-arm

Abstract

The present invention proposes a C-arm X-ray imaging system that uses multiple pulsed X-ray sources in motion to perform efficient and ultrafast 3D radiography. The X-ray sources are mounted on a moving structure to form an array. The X-ray sources move simultaneously relative to an object at a constant speed as a group on a predefined arc track. Each individual source can also move quickly around its static position at a small distance. When the source has a speed equal to the group speed but has an opposite direction of movement, the source at one C-arm end and the X-ray flat panel detector at the other C-arm end are activated by an external exposure control unit so that the source temporarily remains stationary. The C-arm provides 3D X-ray scanning imaging by rotating through a wide sweep angle and at different positions. The X-ray image can be analyzed by an artificial intelligence module for real-time diagnosis.

Description

[0001] This application claims the priority of the following applications: Provisional application serial number 63182426 filed on April 30, 2021; Provisional application serial number 63226508 filed on July 28, 2021; Provisional application serial number 63170288 filed on April 2, 2021, Provisional application serial number 63175952 filed on April 16, 2021, Provisional application serial number 63194071 filed on May 27, 2021; Provisional application serial number 63188919 filed on May 14, 2021; Provisional application serial number 63225194 filed on July 23, 2021; Provisional application serial number 63170288 filed on April 2, 2021, Provisional application serial number 63175952 filed on April 16, 2021, Provisional application serial number 63194071 filed on May 27, 2021 Provisional application serial number 63209498 filed on June 11, 2021; provisional application serial number 63214913 filed on June 25, 2021; provisional application serial number 63220924 filed on July 12, 2021; provisional application serial number 63222847 filed on July 16, 2021; provisional application serial number 63224521 filed on July 22, 2021; and U.S. application serial number 17149133 filed on January 24, 2021, which U.S. application in turn claims priority to provisional serial number 62967325 filed on January 29, 2020, and the contents of the above applications are incorporated by reference. Technical Field

[0002] This patent specification belongs to the field of C-arm X-ray imaging systems and methods, and is particularly applicable to the use of pulsed X-ray sources and large field of view X-ray digital flat panel detectors. Background Art

[0003] C-arm (C-arm) X-ray imaging systems are currently used in medical, NDT, and even security applications to create primarily two-dimensional X-ray projection images. Like other cone-beam X-ray imaging devices, conventional C-arm X-ray imaging systems are typically equipped with an X-ray source, an X-ray flat panel detector, and a movable table. First, the C-arm X-ray imaging system includes: an X-ray source mounted to one end of the C-arm and an X-ray detector mounted to the opposite end of the C-arm. The X-ray detector includes: a detector mount and a movable table for moving within the detector mount. Second, an X-ray detector for an imaging system includes: a detector mount capable of coupling to the C-arm. The X-ray detector also has a movable table coupled to the detector mount, the movable table being operable to translate together with the detector mount. Third, a method of imaging employs the C-arm X-ray imaging system. The method includes: positioning a movable table of the X-ray detector at a first position, performing a first partial circular scan to acquire a first projection data set, repositioning the movable table of the X-ray detector to a second position offset from the first position, and performing a second partial circular scan to acquire a second projection data set. C-arms have radiographic capabilities but are primarily used for fluoroscopic intraoperative imaging during surgery, orthopedic surgery, and emergency surgery. Fluoroscopy is a type of medical imaging that displays continuous X-ray images on a monitor, much like X-ray film.

[0004] However, existing conventional C-arm X-ray imaging systems have a major drawback. Continuous conventional C-arm X-ray images are 2D images, not 3D images. In order to obtain a better view of organs, blood vessels, tissues and bones, the C-arm must sometimes be repositioned. In addition, C-arms are usually large and heavy. It takes some time to put them in position to take images. If a C-arm is used for 3D CT, the object or patient must be stationary during the entire X-ray image acquisition.

[0005] The present invention proposes a much faster and lower cost C-arm 3D X-ray imaging system by using multiple pulsed X-ray sources in motion. It can perform tomosynthesis at a much faster speed. X-ray imaging can also be performed using artificial intelligence. Summary of the invention

[0006] In a first aspect, a C-arm X-ray system for providing fast 3D radiography using multiple pulsed X-ray sources in motion, comprising: a primary motor table that moves freely on an arc-shaped guide rail with a predetermined shape; a primary motor that engages with the primary motor table and controls the speed of the primary motor table; a plurality of secondary motor tables that are coupled to the primary motor table and move in the direction of the arc-shaped guide rail; a plurality of secondary motors, each of which engages with the secondary motor table and controls the speed of the secondary motor table; a plurality of X-ray sources, each of which is moved by the secondary motor table; a supporting frame structure that provides a housing for the primary motor table and the secondary motor table; and a flat panel detector for receiving X-ray imaging data.

[0007] In a second aspect, a method for rapid 3D radiography using a C-arm with multiple pulsed X-ray sources in motion comprises: positioning a primary motor table and one or more secondary motor tables to a predetermined initial position; sweeping the primary motor table at a predetermined constant speed by the primary motor; oscillating each of the secondary motor tables in a predetermined sequence by the corresponding secondary motor; electrically activating the X-ray source and the flat panel detector when the secondary motor table moves in a direction opposite to the direction of the primary motor table and at a selected speed of the primary motor table; and acquiring image data from the X-ray source using the flat panel.

[0008] On the other hand, a C-arm X-ray imaging system is proposed that uses multiple pulsed X-ray sources in motion to perform ultrafast, efficient 3D radiography. In the system, multiple pulsed X-ray sources are mounted on a moving structure to form a source array. The multiple X-ray sources move simultaneously around an object at a constant speed of the group on a predefined arc track. Each individual X-ray source can also move quickly a small distance around its static position. When the individual X-ray source has a speed equal to the group speed but an opposite moving direction, the individual X-ray source is triggered by an external exposure control unit. This arrangement allows the X-ray source to remain relatively stationary during the X-ray pulse trigger exposure duration. Multiple X-ray sources result in a greatly reduced source travel distance for individual X-ray sources. The X-ray receiver is an X-ray flat panel detector. 3D radiographic image projection data can be acquired in a much shorter time with an overall much wider sweep, and image analysis can also be performed in real time while scanning is being performed.

[0009] On the other hand, a C-arm X-ray imaging system that uses multiple pulsed X-ray sources in motion to perform efficient and ultrafast 3D radiography includes multiple pulsed X-ray sources mounted on a moving structure to form a source array. Multiple X-ray source components move simultaneously relative to an object at a constant speed on a predefined arc track. Each individual X-ray source can also move quickly around its static position at a small distance. When the individual X-ray source has a speed equal to the grouping speed but moves in the opposite direction, the individual X-ray source and the X-ray detector are activated by an external exposure control unit.

[0010] Advantages of the system and method of the present invention may include one or more of the following. The arrangement allows the X-ray source to remain relatively stationary during activation of the X-ray source and exposure of the X-ray detector. The X-ray receiver is an X-ray flat panel detector. Multiple X-ray sources in motion operation result in a greatly reduced source travel distance for a single X-ray source. 3D radiographic image data can be acquired in a shorter time with a wider overall sweep angle, and image analysis can also be performed in real time while scanning. In a specific implementation, a random launch scheme can also be used to randomly activate X-rays from one of any sources in the array. The results of each and cumulative analysis determine the next X-ray source and exposure conditions. 3D X-ray radiographic images with a C-arm are reconstructed based on each image of the angled geometry with the X-ray exposure source. Much wider applications include: 3D molybdenum target photography or tomosynthesis, chest 3D radiography or fast 3D NDT for COVID, and fast 3D X-ray safety inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 An exemplary C-arm X-ray imaging system using multiple pulsed X-ray sources in motion is shown.

[0012] Figure 2 An exemplary placement of an X-ray source with motion control is shown.

[0013] Figure 3 An exemplary configuration is shown in which a separate X-ray source emits an X-ray beam in a temporarily stationary position at a moment when the primary and secondary motor stages are moving in opposite directions but at the same speed.

[0014] Figure 4 An exemplary five X-ray source system is shown that acquires 25 projection data sets with each X-ray source traveling only one fifth of the total distance. DETAILED DESCRIPTION

[0015] In the following paragraphs, the present invention will be described in detail by way of example with reference to the accompanying drawings. Throughout the description, the preferred embodiments and examples shown should be considered as exemplary rather than limiting the present invention. As used herein, "the present invention" refers to any one of the embodiments of the present invention described herein and any equivalents. In addition, references to various features of the "present invention" throughout the document do not mean that all claimed embodiments or methods must include the referenced features.

[0016] Figure 1 A novel ultrafast 3D C-arm digital imaging system with multiple pulsed X-ray sources is shown. It includes: a primary motor 6 coupled to a primary motor table 7, multiple X-ray sources 10, and an X-ray flat panel detector 1. All motors, all motor tables, and X-ray sources are mounted in a supporting multiple pulse source frame structure 2. The frame structure 2 is mounted at one end of a C-arm 3, and the X-ray flat panel detector 1 is mounted at the other end of the C-arm 3. The C-arm 3 has its own C-arm rotation motor 4 and a C-arm support 5. More degrees of freedom can be added by adding more motion control. For example, if another motor is added at the C-arm 3, the supporting multiple pulse source frame structure 2 itself can rotate, and so on.

[0017] The object to be imaged is usually placed on a movable table. Each secondary motor 8 is coupled to a secondary motor table 9. All secondary motor tables 9 are mounted on the primary motor table 7. Each X-ray source 10 is mounted on the secondary motor table 9. Each motor is controlled by programmable motion control hardware and can move the motor table back and forth at a predetermined speed. The secondary motor table 9 is positioned in a manner that is equal to the spacing between adjacent tables. Therefore, all X-ray sources 10 move with the primary motor table 7, but each individual X-ray source 10 can also be moved individually with the secondary motor table 9. The X-ray flat panel detector 1 can also be mounted on an additional linear table. The X-ray flat panel detector 1 can move back and forth based on the position of the X-ray source 10 so as to have a wider image coverage.

[0018] The X-ray flat panel detector 1 is used to provide an X-ray image of a moving object for 3D radiography using multiple pulsed X-ray sources in motion, wherein a primary motor table 7 moves freely on an arc-shaped guide rail with a predetermined shape. The primary motor 6 is engaged with the primary motor table 7 and controls the speed of the primary motor table 7. Multiple secondary motor tables 9 coupled to the primary motor table 7 move along the arc-shaped guide rail direction. Multiple secondary motors 8 each engage the secondary motor table 9 and control the speed of the secondary motor table 9. Multiple X-ray sources 10 are mounted on the moving structure to form a source array. The frame structure 2 provides a support housing for the primary motor 6, the primary motor table 7, the secondary motor 8, and the secondary motor table 9.

[0019] A plurality of pulse source frame structures 2 provide support for an X-ray system including a primary motor table 7, a secondary motor table 9 and the plurality of X-ray sources 10. It is assembled from a combination of laser cut frame metal plates and high strength linear ball bearings to provide precise rotational positioning and smooth movement at a constant speed for the X-ray system. With the ability to be disassembled into components for ease of transportation and installation, the main frame is mounted on an off-the-shelf articulated robotic platform that can be used to move the entire system. The support frame structure 2 provides a housing for the primary motor table 7 and the secondary motor table 9, and includes a bottom portion for the primary motor table 7, a top portion for the secondary motor table 9, and an inter-frame coupling mechanism between the bottom portion and the top portion.

[0020] The frame structure 2 at the C-arm 3 includes an arc-shaped guide rail that provides linear movement along a straight line. The guide rail is moved along the length of the arc-shaped guide rail by a motor. In this regard, the C-arm X-ray system uses multiple pulsed X-ray sources in motion to provide fast 3D radiography, wherein a primary motor table 7 moves freely on an arc-shaped guide rail with a predetermined shape. The primary motor 6 is engaged with the primary motor table 7 and controls the speed of the primary motor table 7, while the multiple secondary motor tables 9 coupled to the primary motor table 7 move the assembly in the direction of the arc-shaped guide rail. For the multiple secondary motors 8, each secondary motor is engaged with the secondary motor table 9 and controls the speed of the secondary motor table 9.

[0021] The C-arm rotation motor 4 rotates the C-arm assembly around the object being examined. The X-ray source 10 or an array of X-ray sources 10 moves at a predetermined speed relative to the C-arm, forming a moving source array. A single pulse X-ray source can be activated from any source in the array or even from all sources simultaneously. Each X-ray pulse results in corresponding projection data by selecting the first and last position in time for the scan data and stitching many individual image slices using a computer program.

[0022] The C-arm support 5 is designed to allow each motor table to move freely along a predetermined track on an arc guide and has an angular shape. The primary motor 6 drives the primary motor table 7 through gears. The primary motor table 7 provides a pivot for the secondary motor table to oscillate back and forth at a selected oscillation frequency. Each secondary motor table has a secondary motor mounted thereon and electrically connected to an external exposure control unit. Each secondary motor table in the secondary motor table 9 moves with its corresponding secondary motor 8 to provide rapid movement forward or backward in a sweeping direction at a selected speed controlled by the corresponding secondary motor. A C-arm X-ray system that performs ultrafast, efficient 3D radiography using multiple pulsed X-ray sources in motion includes multiple pulsed X-ray sources mounted on a moving structure to form a source array.

[0023] In summary, the system comprises: a plurality of X-ray sources 10 moved by a secondary motor stage 9, a supporting frame structure 2 providing housing for the primary motors 6, the primary motor stage 7 and the secondary motor 8, and the secondary motor stage 9. The system has many advantages. First, the configuration has less stress on moving parts such as gears or pinions. Second, the direction of movement is easily changed as long as there are different paths between the same points. This enables X-ray imaging of complex geometries without spending too much effort on the overall configuration. Third, the array can be very wide, but the individual sources remain relatively stationary during operation.

[0024] Figure 2 An exemplary placement of an X-ray source 10 with motion control is shown. In this exemplary embodiment, the secondary motors 8 are interconnected as a rigid body structural assembly that acts as a primary motor table 7 because it has rolling wheels at the edges. The primary motor 6 engages the primary motor table 7 through gears. The primary motor 6 can move the primary motor table 7 along a rigid guide at a predetermined constant speed. Because all secondary motor tables 9 are mounted on one structure, they can also move along the rigid guide at a predetermined constant speed. The secondary motors 8 are equidistantly spaced from their adjacent secondary motors 8. Each secondary motor table 9 can be moved back and forth by the secondary motor 8. The X-ray source 10 is mounted on the secondary motor table 9. The movement of each X-ray source 10 on the secondary motor table 9 has four movement phases: acceleration, constant speed, deceleration, and moving back to the initial position. At any time, only one X-ray source 10 can be at a constant speed moving in the opposite direction to the primary motor table 7. The temporary constant speed of the secondary motor table 9 is programmed to be equal to the constant movement speed of the primary motor table 7.

[0025] The primary motor 6 is coupled to a primary motor table 7. The primary motor table 7 is freely movable on an arc-shaped guide rail having a predetermined shape (e.g., a circular shape). The primary motor 6 of the C-arm X-ray system moves along the arc-shaped guide rail at a predetermined speed. The primary motor table 7 is configured to support secondary motor tables 9. Each of the secondary motor tables 9 has an X-ray source 10 mounted thereon. A plurality of secondary motor tables 9 allow efficient and ultrafast 3D radiographic imaging to be performed.

[0026] The primary motor table 7 is freely movable on the arc guide rail by the primary motor 6. It has a plurality of X-ray sources 10 at predetermined positions. The primary motor table 7 is set to a first initial position. A plurality of secondary motor tables 9 are coupled to the primary motor table 7 and move simultaneously with the primary motor table 7 in the direction of the arc guide rail.

[0027] The secondary motor table 9 is driven by the secondary motor 8 to perform rotational or linear motion. The secondary motor table 9 is located at the top of the X-ray source 10 (such as an X-ray tube) and can therefore move above. All X-ray sources 10 travel linearly at a constant speed along the arc-shaped guide rail. The pulse train generator can activate each X-ray source 10 individually or simultaneously during the burst exposure time.

[0028] The secondary motor table 9 can change its angular velocity to a maximum value determined by the gear ratio. The motor is usually operated at its maximum angular velocity, so the travel distance of the X-ray source 10 can be significantly reduced. Multiple X-ray sources 10 on multiple motor tables form an array that works together when the primary motor table 7 rotates at a constant speed along the arc guide. The group of X-ray sources 10 follows the same angular velocity and direction of movement. When one of the secondary motor tables 9 moves in a direction opposite to that of the primary motor table 7 and at a selected speed of the primary motor table, the X-ray source 10 coupled to the secondary motor table 9 is activated by the control unit. While the X-ray source moves along the moving track around the object to be inspected, a 3D radiographic image is acquired using the X-ray flat panel detector 1.

[0029] The X-ray source 10 is mounted on a support structure in motion and is located near the object being inspected. Multiple X-ray sources 10 can be arranged on the support structure and move around the object simultaneously. As an example, when each individual X-ray source 10 has a speed equal to the group speed but has an opposite direction of movement, each individual X-ray source moves randomly at a small distance within a certain range from a static position, and the arrangement allows the X-ray source 10 to remain relatively stationary during X-ray source activation and X-ray detector exposure. Multiple X-ray sources 10 result in a greatly reduced source travel distance for individual X-ray sources 10. 3D radiographic image data can be acquired in a shorter time with an overall wider sweep angle, and image analysis can also be performed in real time while scanning is being performed.

[0030] Figure 3An exemplary configuration is shown in which a separate X-ray source 10 emits an X-ray beam at a temporary stationary position while the primary motor table 7 and the secondary motor table 9 move in opposite directions but at the same speed. It shows how the motion control operation is performed. For one data acquisition cycle, the primary motor table 7 moves in one direction at a constant speed and then returns to the initial position. While the primary motor table 7 moves at a constant speed, the secondary motor table 9 vibrates at a predetermined speed. When the secondary motor table 9 travels in the opposite direction to the primary motor table 7 and has the same constant speed, the X-ray source 10 and the X-ray flat panel detector 1 are triggered. At this triggering moment, the X-ray source 10 behaves as if the X-ray source 10 is stationary while emitting an X-ray beam. Therefore, the dynamic arrangement of the stationary state X-ray source 10 allows the X-ray imaging system to acquire a large number of images from different spatial angular positions in a very short time. The duration of the constant speed movement of the secondary motor table 9 can be programmed by software to match the X-ray exposure time. When one secondary motor stage 9 is at a constant speed, the other secondary motor stage 9 can accelerate, decelerate or move back to the initial position to prepare for their next constant speed. The X-ray source 10 can also be programmed to perform exposures on demand in a random order based on each independent external trigger pulse.

[0031] The primary motor table 7 moves freely on an arc guide rail of a predetermined shape (such as a circle or an ellipse). The primary motor table 7 can be implemented as a linear moving table. In one embodiment, the primary motor drives the primary motor table 7 and controls the speed of the primary motor table 7. The secondary motor table 9 is coupled to the primary motor table 7 and moves at a constant speed along the direction of the arc guide rail relative to the primary motor table 7. The secondary motor table 9 is mechanically coupled to the primary motor table 7 through gears, belts or chains.

[0032] The secondary motor table 9 can move in any direction and rotate around a pivot point on the track. The secondary motor table 9 is coupled to the secondary motor 8. The motor is controlled by a control unit, such as current from a power supply flowing through contacts into the primary winding of the motor, and then flowing out of the primary winding through contacts to form a magnetic field in the winding of the motor. This arrangement allows the motor to work to generate torque and drive the secondary motor table 9 to move in any direction along the arc-shaped guide rail.

[0033] Figure 4It shows how a five X-ray source system can acquire 25 projection data sets with each X-ray source traveling only one-fifth of the total distance. In this example, five X-ray sources 10 perform a total of 25 X-ray exposures at different angular positions. Due to the placement of the five sources, each secondary motor stage 9 only needs to travel one-fifth of the total coverage angle. Therefore, with multiple X-ray sources 10 working in parallel, a large amount of projection data can be acquired in a small fraction of the time. An X-ray flat panel detector 1 is used as an X-ray receiver. Electronic signals always move faster than mechanical motion, and the bottleneck of the limiting factor is always the motor stage motion itself. The next bottleneck is the detector reading limit. Because the detector also takes some time to read out many megapixel data and then transfer it to the computer. Using high-speed processors and GPUs, image analysis can be performed in real time with image acquisition. The judgment of the image captured will affect the position of the X-ray tube 10 for the next shot. There is no need to wait until the entire image acquisition is completed before image reconstruction.

[0034] In another embodiment, the system uses multiple pulsed X-ray sources in motion to perform ultrafast, efficient 3D radiography. Radiographic images of the patient are captured in real time. The system includes a source driver that provides voltage to the X-ray source and triggers pulses. The primary motor table is coupled to the source driver to move the source. A supporting frame structure and a flat panel detector are provided for the primary motor table and the secondary motor table. The primary motor table includes a primary motor, a gear mechanism, and a linear guide rail. The secondary motor tables each include a secondary motor, a ball screw drive, and a timing belt around the rail. The X-ray flat panel detector 1 provides X-ray detector image data for the C-arm X-ray system.

[0035] The X-ray source 10 is mounted on a moving structure to form a source array. The X-ray source moves simultaneously relative to the object at a constant speed as a group on a predefined arc track. Each individual X-ray source can also move quickly around its static position at a small distance. When the individual X-ray source has a speed equal to the group speed but has an opposite moving direction, the X-ray source 10 at one C-arm end and the X-ray flat panel detector 1 at the other C-arm end are activated by an external exposure control unit so that the source temporarily remains stationary. The primary motor table moves freely on the arc guide rail. A plurality of secondary motor tables are coupled to the primary motor table and move in the direction of the arc guide rail. The primary motor table is mounted on an arc guide rail having a predetermined shape and includes a motor unit, a base supporting the motor unit, and a connecting rod coupled to the base and the motor unit. The secondary motor tables are arranged in parallel and mounted on the connecting rods to be movable along the arc guide rail.

[0036] The individual X-ray sources and X-ray detectors can be activated by an external exposure control unit. This arrangement allows the X-ray source to remain relatively stationary during X-ray source activation and X-ray detector exposure. Multiple X-ray sources result in a greatly reduced source travel distance for a single X-ray source. The X-ray receiver is an X-ray flat panel detector. 3D radiographic image data can be acquired in a much shorter time with a much wider overall sweep angle, and image analysis can also be performed in real time. Multiple pulsed X-ray sources can result in 3D tomosynthesis imaging while scanning is ongoing.

[0037] In yet another specific implementation, a C-arm X-ray system with multiple pulsed X-ray sources in motion is described in detail. The system includes a primary motor table that can move freely on an arc-shaped guide rail with a predetermined shape. The primary motor is engaged with the primary motor table and controls the speed of the primary motor table. Multiple secondary motor tables are coupled to the primary motor table and move in the direction of the arc-shaped guide rail. Multiple secondary motors each engage the secondary motor table and control the speed of the secondary motor table. Multiple X-ray sources, each X-ray source is moved by the secondary motor table, a support frame structure provides a housing for the primary motor and the secondary motor table, and a flat panel detector for receiving X-ray imaging data. A computer readable storage medium has instructions for performing C-arm fast 3D radiography using multiple pulsed X-ray sources in motion, including: positioning a primary motor table and one or more secondary motor tables to a predetermined initial position; sweeping the primary motor table at a predetermined constant speed by the primary motor; oscillating each of the secondary motor tables in a predetermined sequence by a corresponding secondary motor; electrically activating an X-ray source and a flat panel detector when the secondary motor table moves in a direction opposite to the direction of the primary motor table and at a selected speed of the primary motor table; and acquiring image data using the X-ray source using the flat panel.

[0038] Next, an exemplary mechanical C-arm for 3D radiography according to aspects of the present invention is discussed. There is a three-stage motorized X-ray source, and the primary motor table moves on an arc guide. The secondary motor table moves on the arc guide together with or inversely with the primary motor table, and multiple X-ray sources are mounted on each secondary motor table. Therefore, multiple X-ray sources are in motion to perform ultrafast 3D radiography using a trigger mechanism controlled by a computer control unit. The device also includes a supporting frame structure, an X-ray flat panel detector, and a fast motor table controller. All system components are attached to the supporting frame structure for vibration-free operation. The standard C-arm imaging geometry involves the use of a swing arm. The X-ray source is located at the end of the arm, which rotates around the central axis of the body being examined, and the detector is located on the other side of the central axis of rotation.

[0039] In another specific implementation, a C-arm fast 3D radiography method uses multiple pulsed X-ray sources in motion. The method includes: positioning a primary motor table 7 and multiple secondary motor tables 9 to a predetermined initial sweep position. The primary motor table 7 is operated at a predetermined constant speed by a primary motor 6. Each of the secondary motor tables 9 is moved in a predetermined sequence by a corresponding secondary motor 8. The method also includes: electrically activating an X-ray source 10 that exposes an image on an X-ray flat panel detector 1. When the secondary motor table 9 moves in a direction opposite to the primary motor table 7, the method uses the X-ray source 10 to acquire image data from the X-ray flat panel detector 1.

[0040] Although various embodiments of the present invention have been described above, it should be understood that they are presented as examples rather than limitations. Various figures may depict exemplary architectures or other configurations for the present invention, which is done to help understand the features and functionality that may be included in the present invention. The present invention is not limited to the example architectures or configurations shown, but various alternative architectures and configurations may be used to implement the desired features. In fact, it is obvious to those skilled in the art how alternative functions, logical or physical partitions and configurations may be implemented to implement the desired features of the present invention. In addition, many different component module names other than those described herein may be applied to each partition. In addition, for flow charts, operational descriptions, and method claims, the order in which the steps are presented herein should not force implementation of various embodiments to perform the described functionality in the same order, unless the context indicates otherwise.

[0041] In some cases, the presence of broad words and phrases (such as "one or more", "at least", "but not limited to", or other such phrases) should not be understood to mean that narrower cases are intended or required to be used where such broad phrases may not be present. Use of the term "module" does not imply that the components or functionality described or claimed as part of a module are all configured in a common package. In fact, any or all of the various components of a module, whether control logic or other components, may be combined in a single package or maintained separately, and may further be distributed across multiple locations.

Claims

1. A system for providing rapid 3D radiography using multiple pulsed X-ray sources in motion with a C-arm, wherein include: C-arm; A C-arm motor, wherein the C-arm motor is used to rotate the C-arm; C-arm support; A primary motor table, the primary motor table freely moving on an arc-shaped guide rail with a predetermined shape; an elementary motor engaged with the elementary motor stage and controlling the speed of the elementary motor stage; a plurality of secondary motor stages coupled to the primary motor stage and moving in the direction of the arc-shaped guide rail; a plurality of secondary motors, each secondary motor engaging the secondary motor stage and controlling the speed of the secondary motor stage; A plurality of X-ray sources, each X-ray source being moved by a secondary motor stage; a support frame structure mounted to one end of the C-arm, the support frame structure providing a housing for the primary motor, the primary motor table, the secondary motor, the secondary motor table and the X-ray source; as well as Mounted to the opposite end of the C-shaped arm is an X-ray flat panel detector.

2. The system according to claim 1, wherein include: a predefined track formed on the arc-shaped guide rail, A source array comprising the plurality of X-ray sources mounted on the secondary motor table, wherein each of the plurality of X-ray sources moves simultaneously around the object to be imaged on the predefined track at a grouped constant speed, and when an individual X-ray source of the plurality of X-ray sources has a speed equal to the constant speed but in an opposite direction of movement, the individual X-ray source is triggered by an exposure control unit.

3. The system of claim 1, wherein the speed or position of the primary motor stage or the secondary motor stage is adjustable by software.

4. The system of claim 1, wherein the current and voltage of the X-ray source are adjustable via software.

5. The system of claim 1, wherein the exposure time of the X-ray source is adjustable via software.

6. The system of claim 1, wherein the X-ray source is stationary relative to the X-ray flat panel detector during the X-ray pulse trigger exposure duration.

7. The system of claim 1, wherein the flat panel detector acquires 3D radiographic image projection data using a predetermined sweep over a predetermined period of time, and wherein image analysis is performed in real time during the scan.

8. The system of claim 1, wherein each individual X-ray source is rapidly moved a predetermined distance around a static position.

9. A method for providing rapid 3D radiography using multiple pulsed X-ray sources in motion with a C-arm, wherein include: Mounting a supporting frame structure of a plurality of pulsed X-ray sources to one end of the C-arm; positioning the primary motor stage and one or more secondary motor stages to predetermined initial positions at the arcuate guide rails of the support frame structure; sweeping the elementary motor table at a predetermined constant speed by means of an elementary motor; oscillating each of the secondary motor stages in a predetermined sequence by a corresponding secondary motor; electrically activating an X-ray source and an X-ray flat panel detector when the secondary motor stage moves in a direction opposite to the direction of the primary motor stage; and Image data is acquired from the X-ray flat panel detectors mounted to opposite ends of the C-arm.

10. The method according to claim 9, wherein include: The primary motor stage and the secondary motor stage are moved.

11. The method of claim 9, wherein the X-ray source is stationary relative to the X-ray flat panel detector during the X-ray pulse trigger exposure duration.

12. The method of claim 9, wherein a random firing scheme is used to randomly activate any one of the plurality of X-ray sources.

13. The method of claim 9, wherein the flat panel detector acquires 3D radiographic image projection data using a predetermined sweep for a predetermined time, and wherein image analysis is performed in real time during the scan.

14. The method according to claim 9, wherein include: Vary the sweep angle based on the area of ​​interest.

15. The method according to claim 9, wherein include: The X-ray source voltage input is varied during the sweep based on the density of the object to be imaged.

16. The method of claim 9, wherein the X-ray detector is coupled to an additional linear stage to adjust the position based on the position of the X-ray source.

Images